Night time road curvature estimation based on Convolutional Neural Networks
| Autor: | Florian Schule, Klaus Dietmayer, Oliver Hartmann, Raimar Wagner, Roland Schweiger, Michael Gabb |
|---|---|
| Rok vydání: | 2013 |
| Předmět: |
Image fusion
Artificial neural network Contextual image classification Computer science business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Curvature Convolutional neural network Radar imaging Computer vision Artificial intelligence business Classifier (UML) Inertial navigation system |
| Zdroj: | Intelligent Vehicles Symposium |
| DOI: | 10.1109/ivs.2013.6629571 |
| Popis: | Detecting the road geometry at night time is an essential precondition to provide optimal illumination for the driver and the other traffic participants. In this paper we propose a novel approach to estimate the current road curvature based on three sensors: A far infrared camera, a near infrared camera and an imaging radar sensor. Various Convolutional Neural Networks with different configuration are trained for each input. By fusing the classifier responses of all three sensors, a further performance gain is achieved. To annotate the training and evaluation dataset without costly human interaction a fully automatic curvature annotation algorithm based on inertial navigation system is presented as well. |
| Databáze: | OpenAIRE |
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